Robot and robot system
A technology of robots and manipulators, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in reducing distances and interference
Pending Publication Date: 2019-03-26
SEIKO EPSON CORP
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- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, in such a single-arm robot, when the distance between the object around the single-arm robot and the single-arm robot is reduced, when the end effector is made to approach the object from a region higher than the installation surface, the robot arm and the object may sometimes be separated. can interfere, and sometimes it is difficult to reduce the interval
Due to this situation, with regard to these robots, the location for setting the robot is sometimes limited in order to work on the desired area
Method used
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[0039] Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0040]
[0041] First, refer to Figure 1 to Figure 6 , the structure of the robot system 1 will be described. figure 1 It is a figure which shows an example of the structure of the robot system 1 which concerns on embodiment. The robot system 1 includes, for example, a robot 20 . In addition, the robot system 1 may also include other devices such as an imaging unit (for example, a camera separate from the robot 20, a teaching device for teaching the robot 20 a desired operation to be performed by the robot 20) in addition to these. structure. also, figure 2 It is a figure which shows an example of the structure of the robot 20.
[0042] Hereinafter, for convenience of description, the direction of gravity (vertical downward direction) will be referred to as downward direction or downward, and the direction opposite to the downward direction will be referred to ...
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The invention provides a robot and a robot system which can suppress a robot position restriction condition for operating an expected area. The robot includes a base and a manipulator provided on thebase so as to be rotatable around a first rotation axis, and in which the manipulator includes an A arm that is rotatable around an A rotation axis parallel to an installation surface of the base, anda B arm provided to be rotatable around a B rotation axis parallel to the A rotation axis with respect to the A arm, the A arm and the B arm are allowed to be brought into a first state in which theA-arm and the B arm overlap when viewed from an axial direction of the B rotation axis, the A rotation axis does not intersect with the first rotation axis, and a tip end of the manipulator is movablefrom a first position positioned on a side opposite to the base with respect to the installation surface of the base to a second position positioned on the side opposite to the base with respect to the A rotation axis through the first state when viewed from a direction orthogonal to the first rotation axis.
Description
technical field [0001] The invention relates to a robot, a robot system and a robot control device. Background technique [0002] Technology is being researched and developed to enable robots to perform predetermined tasks. [0003] In this connection, there is known a robot including a base and a robot arm including: a first arm provided on the above-mentioned base and rotatable around a first rotation axis; and a second arm provided on the above-mentioned first rotation axis. an arm and is rotatable about a second rotation axis different from the first rotation axis in the axial direction, wherein, when viewed from the axial direction of the second rotation axis, the first arm and the second arm can overlap and can The length in the height direction of the placement portion on which the object is placed by the robot arm or the end effector provided on the robot arm is 3.2 times or more the distance between the placement portion and the first rotation axis (see patent Lit...
Claims
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IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/0009B25J9/109B25J18/005B25J9/047B25J9/1664B25J9/04B25J9/1694B25J9/1615
Inventor 年光俊介
Owner SEIKO EPSON CORP